Optimal design of a 2-DOF parallel manipulator with actuation redundancy considering kinematics and natural frequency

In this paper, a planar 2-DOF parallel manipulator with actuation redundancy is proposed and the optimal design considering kinematics and natural frequency is presented. The stiffness matrix and mass matrix are derived, and the structural dynamics is modeled. The natural frequency is obtained on the basis of dynamic model. Based on the kinematic performance, the range for link length is given. Then, considering the natural frequency, the geometry is optimized. The natural frequency is simulated and compared with the corresponding non-redundant parallel manipulator. The designed redundant parallel manipulator has desired kinematic performance and natural frequency and is incorporated into a 4-DOF hybrid machine tool. (c) 2012 Elsevier Ltd. All rights reserved.